A robust and real-time velocity sensor for agricultural vehicles

In this paper, we propose a velocity sensor for agricultural vehicles by sensing ground motion with robust image matching algorithm called Orientation Code Matching (OCM). The sensor performs velocity measurement with high accuracy and robustness without error by slipping in the fields. The algorithm of OCM is implemented on a Field Programmable Gate Array (FPGA) to perform real-time image matching and to reduce the size and power consumption. Because of low power consumption, the sensor can be operate within the hermetically-sealed chassis so that it has high resistance to the environment. The effectiveness of the sensor has been verified by agricultural vehicles installed with the sensors in real agricultural fields.